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Leases - Supplemental Cash Flow Information Related to Leases (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Cash paid for amounts included in the measurement of lease liabilities:    
Operating cash flows from operating leases $ 1,858 $ 1,906
Leased assets obtained in exchange for new operating lease liabilities $ 830 $ 2,645